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Initialize RangeData in NormalEstimation tests. (#1532) 

Resolving https://github.com/googlecartographer/cartographer/issues/1530
Same as https://github.com/googlecartographer/cartographer/pull/1520
master
Kevin Daun 2019-03-07 16:43:05 +01:00 committed by Alexander Belyaev
parent a60cca4a43
commit d06b0ab63f
1 changed files with 3 additions and 3 deletions
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6
cartographer/mapping/internal/2d/normal_estimation_2d_test.cc
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@ -37,7 +37,7 @@ TEST(NormalEstimation2DTest, SinglePoint) {
"}"); "}");
const proto::NormalEstimationOptions2D options = const proto::NormalEstimationOptions2D options =
CreateNormalEstimationOptions2D(parameter_dictionary.get()); CreateNormalEstimationOptions2D(parameter_dictionary.get());
sensor::RangeData range_data; auto range_data = sensor::RangeData();
const size_t num_angles = 100; const size_t num_angles = 100;
range_data.origin.x() = 0.f; range_data.origin.x() = 0.f;
range_data.origin.y() = 0.f; range_data.origin.y() = 0.f;
@ -63,7 +63,7 @@ TEST(NormalEstimation2DTest, StraightLineGeometry) {
"}"); "}");
const proto::NormalEstimationOptions2D options = const proto::NormalEstimationOptions2D options =
CreateNormalEstimationOptions2D(parameter_dictionary.get()); CreateNormalEstimationOptions2D(parameter_dictionary.get());
sensor::RangeData range_data; auto range_data = sensor::RangeData();
range_data.returns.push_back({Eigen::Vector3f{-1.f, 1.f, 0.f}}); range_data.returns.push_back({Eigen::Vector3f{-1.f, 1.f, 0.f}});
range_data.returns.push_back({Eigen::Vector3f{0.f, 1.f, 0.f}}); range_data.returns.push_back({Eigen::Vector3f{0.f, 1.f, 0.f}});
range_data.returns.push_back({Eigen::Vector3f{1.f, 1.f, 0.f}}); range_data.returns.push_back({Eigen::Vector3f{1.f, 1.f, 0.f}});
@ -117,7 +117,7 @@ TEST_P(CircularGeometry2DTest, NumSamplesPerNormal) {
"}"); "}");
const proto::NormalEstimationOptions2D options = const proto::NormalEstimationOptions2D options =
CreateNormalEstimationOptions2D(parameter_dictionary.get()); CreateNormalEstimationOptions2D(parameter_dictionary.get());
sensor::RangeData range_data; auto range_data = sensor::RangeData();
const size_t num_angles = 100; const size_t num_angles = 100;
for (size_t angle_idx = 0; angle_idx < num_angles; ++angle_idx) { for (size_t angle_idx = 0; angle_idx < num_angles; ++angle_idx) {
const double angle = static_cast<double>(angle_idx) / const double angle = static_cast<double>(angle_idx) /